An agile multi-body additively manufactured soft actuator for soft manipulators
DOI:
https://doi.org/10.29105/ingenierias23.89-4Palabras clave:
Materiales blandos, fabricación aditiva, robots blandos, istema de controlResumen
Con la introducción de robots colaborativos en entornos de producción, el daño a los trabajadores por el uso de robots tradicionales con enlaces rígidos es inherente. Se ha propuesto una nueva generación de robots hechos de materiales blandos flexibles que reduce el peligro de colisión mediante acciones de autodeformación como una solución prometedora para los entornos de colaboración humano-robot. Recientemente, con el desarrollo de la fabricación aditiva de materiales blandos elásticos, surgen nuevas oportunidades de diseño para estos llamados robots blandos. Sin embargo, aún no se logra la robustez que se requiere para los entornos de producción. Este documento presenta un enfoque de diseño de un actuador neumático blando de tres ejes fabricado de forma totalmente aditiva. Para su uso en sistemas de manipuladores robóticos blandos flexibles, se presentan pautas de diseño, un proceso de impresión 3D directo con materiales elásticos y un sistema de control de regulación de presión semiautomatizado PLC de bajo nivel. Para validar el diseño propuesto, el actuador se fabrica y prueba para la fuerza de contacto máxima, la reacción de movimiento de flexión y su respuesta de señal.
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